Design and Validation of an Antagonistic Tendon-Driven Dexterous Robotic Hand with Bidirectional Operation

What happened

arXiv:2609.36241v1 Announce Type: new Abstract: Dexterous robotic hands typically reproduce human hand morphology but inherit its one-sided grasping workspace, requiring wrist or arm reorientation to grasp from the opposite side. The proposed routing mechanism allows all degrees of freedom to cross their neutral configuration and form grasp closures on either the palmar or dorsal side.

Experimental evaluation demonstrates an average motor-to-joint transmission error of 3.0%, an average joint transmission bandwidth of 13.2 Hz, a maximum fingertip force of 29 N, and a positioning repeatability up to 0.15 mm. Existing reversible hands generally rely on non-anthropomorphic, soft, or task-specific finger arrangements, whereas conventional five-digit anthropomorphic hands remain designed primarily for palmar-side grasping.